Endoscopic device with usb port and powered accessories

ABSTRACT

An endoscopic deployment device includes a body mountable on an endoscopic device, a communication interface, and a motor. The body has a movable carrier couplable to an elongated end effector device. The effector device has an end effector shaft covered by an outer sheath and an end effector extending from a distal end of the shaft. The sheath is sized and shaped for insertion through a working channel of an endoscopic shaft of the endoscopic device. The body has a carrier channel sized for the carrier to slide therein. The end effecter is actuatable between open and closed positions by sliding the carrier in the carrier channel which in turn slides the sheath over the end effector shaft to uncover/cover the end effector. Rotation of a drive shaft of the motor is sliding the carrier in the carrier channel and actuating the end effector in response to a signal.

PRIORITY CLAIM

The present disclosure claims priority to U.S. Provisional PatentApplication Ser. No. 62/904,909 filed Sep. 24, 2019; the disclosure ofwhich is incorporated herewith by reference.

FIELD

The present disclosure relates to an endoscopic device and, inparticular, an endoscope handle with USB port and powered accessories.

BACKGROUND

Various accessory devices may be used with an endoscopic device toperform various diagnostic and treatment procedures in the imagedcavity. However, the accessory devices may not always be compatible withthe endoscopic device. For example, the physical configurations of thedevices may be difficult to use in conjunction, or the devices may notbe programmatically compatible.

SUMMARY

The present disclosure relates to an endoscopic deployment device whichincludes a body mountable on an endoscopic device, the body having amovable carrier couplable to an elongated end effector device, theelongated end effector device having an end effector shaft covered by anouter sheath and an end effector extending from a distal end of the endeffector shaft, the outer sheath being sized and shaped for insertionthrough a working channel of an endoscopic shaft of the endoscopicdevice, the body having a carrier channel sized for the carrier to slidetherein, wherein the end effecter is actuatable between an extended openposition and a retracted closed position by sliding the carrier in thecarrier channel which in turn slides the outer sheath over the endeffector shaft to uncover or cover the end effector; a communicationinterface extending from the body and configured to be mated with acorresponding communication interface on the endoscopic device on whichthe body is mounted to receive power therefrom and exchange datatherewith; and a motor having a drive shaft coupled to the carrier,rotation of the drive shaft sliding the carrier in the carrier channeland actuating the end effector in response to a signal.

In an embodiment, the signal is generated based on actuation of anactuator on the endoscopic device.

In an embodiment, the actuator is a button pad controlling the motor viathe mated communication interfaces of the endoscopic deployment deviceand the endoscopic device.

In an embodiment, the signal is generated in response to an endoscopicsensor reading.

In an embodiment, the motor is a stepper motor.

In an embodiment, the drive shaft has an arm extending orthogonallytherefrom coupled to a slot in the carrier and the arm has a pin at anend of the arm opposite the drive shaft, the pin being coupled to theslot so that, when the drive shaft rotates, the pin slides in the slotin a direction orthogonal to the carrier channel and the carrier slidesin the carrier channel.

In an embodiment, the drive shaft is a lead screw coupled to a threadedthrough-hole extending through a portion of the carrier parallel to thecarrier channel so that, when the drive shaft rotates, the carrierslides in the carrier channel.

In an embodiment, a pinion gear is coupled to the drive shaft and to arack that is an integral portion of the carrier so that, when the driveshaft rotates, the pinion gear drive the rack and the carrier slides inthe carrier channel.

In an embodiment, the end effector device is a retrieval device forcapturing objects at a distal end of the endoscopic shaft.

In an embodiment, the end effector device is a laser fiber or energyfiber for fragmenting or cauterizing objects at a distal end of theendoscopic shaft.

In an embodiment, the end effector device has a Segura™ handle forcoupling to the carrier of the endoscopic deployment device, wherein thecarrier and a slide of the Segura™ handle are positioned fullyproximally prior to attaching the Segura™ handle to the endoscopicdeployment device.

In an embodiment, the endoscopic device has a proximal communicationinterface and a distal communication interface and the communicationinterface of the endoscopic deployment device is compatible with theproximal communication interface of the endoscopic device.

In addition, the present disclosure relates to an endoscopic devicewhich includes an elongated flexible endoscopic shaft including aworking channel and a deflectable distal tip, the flexible endoscopicshaft being sized and shaped for insertion to a target site within aliving body, the distal tip including a camera; a handle from which theendoscopic shaft extends distally, the handle including a pull wirewheel comprising pull wire attachments from which first and second pullwires extend distally through the endoscopic shaft to the distal tip,rotation of the pull wire wheel deflecting the distal tip by tensioninga first one of the first and second pull wires and slacking a second oneof the first and second pull wires, the handle including an actuator, aproximal end of the handle including a communication interface forconnecting an accessory device; and a motor including a rotatable driveshaft coupled to and configured to rotate the pull wire wheel inresponse to a signal.

In an embodiment, the deflection knob operates as a switch so thatdeflecting the deflection knob in a first direction rotates the pullwire wheel a predefined angular extent to apply tension to the first oneof the first and second pull wires and deflecting the deflection knob ina second direction rotates the pull wire wheel a predefined angularextent to apply tension to the second one of the first and second pullwires.

In an embodiment, the signal is generated by a button pad on an exteriorof the handle.

Furthermore, the present invention relates to a method which includesattaching an endoscopic deployment device to an endoscopic device, theendoscopic deployment device comprising a body mountable on theendoscopic device, the body having a movable carrier couplable to anelongated end effector device, the elongated end effector device havingan end effector shaft covered by an outer sheath and an end effectorextending from a distal end of the end effector shaft, the outer sheathbeing sized and shaped for insertion through a working channel of anendoscopic shaft of the endoscopic device, the body having a carrierchannel sized for the carrier to slide therein, wherein the end effecteris actuatable between an extended open position and a retracted closedposition by sliding the carrier in the carrier channel which in turnslides the outer sheath over the end effector shaft to uncover or coverthe end effector, the endoscopic deployment device further comprising acommunication interface extending from the body and configured to bemated with a corresponding communication interface on the endoscopicdevice on which the body is mounted to receive power therefrom andexchange data therewith, the endoscopic deployment device furthercomprising a motor having a drive shaft coupled to the carrier; andactuating the motor in response to a signal, the actuation of the motorrotating the drive shaft and sliding the carrier in the carrier channelto actuate the end effector.

In an embodiment, the actuator is a button pad on the endoscopic device,the button pad being operated with a thumb of a grip hand of a user.

In an embodiment, the button pad further actuates a deflection of adistal end of the endoscopic shaft.

In an embodiment, the motor is a stepper motor.

In an embodiment, the end effector device is a retrieval device forcapturing objects at a distal end of the endoscopic shaft.

BRIEF DESCRIPTION

FIG. 1A shows a front view of an endoscopic device compatible withpowered accessories according to various exemplary embodiments of thepresent disclosure.

FIG. 1B shows a rear view of the endoscopic device of FIG. 1A.

FIG. 2 shows a pressure sensor device configured for compatibility withthe endoscopic device of FIG. 1A.

FIG. 3 shows a flow sensor device configured for compatibility with theendoscopic device of FIG. 1A.

FIG. 4A shows a transparent side view of a first embodiment of amotorized deployment device.

FIG. 4B shows a transparent perspective view of the motorized deploymentdevice of FIG. 4A.

FIG. 5A shows a transparent side view of a second embodiment of amotorized deployment device.

FIG. 5B shows a transparent perspective view of the motorized deploymentdevice of FIG. 5A.

FIG. 6 shows an exemplary Segura™ handle compatible with the motorizeddeployment devices of FIGS. 4A-5B and an elongated end effector device.

FIGS. 7A-7F show exemplary elongated end effector devices compatiblewith a Segura™/Dakota™ handle.

FIG. 8 shows a stepper motor control board.

FIG. 9 shows a handle of an endoscopic device with a motor forcontrolling the deflection of a distal tip.

FIGS. 10A-C show a gear train for driving a pull wire wheel of thedevice of FIG. 9.

FIG. 10D shows the pull wire wheel of the device of FIG. 9 fashionedwith a gear.

FIG. 11 shows the gear train of FIGS. 10A-C with a pulley.

FIG. 12 shows an ergonomic button pad for controlling a scope tip and anelongated end effector device.

DETAILED DESCRIPTION

The present disclosure may be further understood with reference to thefollowing description and the appended drawings, wherein like elementsare referred to with the same reference numerals. The exemplaryembodiments describe an endoscope having a scope handle with one or moreexternal communication interfaces (e.g., USB ports) and accessorydevices compatible with the endoscope and pluggable thereinto. Forexample, the accessory devices may include a pressure sensor, atemperature sensor, a flow sensor, an additional camera, an additionallight, an optical sensor, a catheter, a laser time-of-flight distancesensor, a deployment device, other sensors or combinations thereof.

In another embodiment, an accessory device is described that is amotorized deployment device for controlling an elongated end effectordevice to capture e.g. kidney stones or the like. The motorizeddeployment device is compatible with the endoscope or may be integratedwith the endoscope in a monolithic handle. The elongated end effectordevice refers to any one of a number of devices compatible with andactuated by the motorized deployment device. For example, the elongatedend effector device may be the retrieval device for capturing kidneystones, a laser fiber device, a therapy needle, snares, forceps, bandligation devices, etc. Any of the elongated end effector devices may befitted with, for example, a Segura™ or Dakota™ handle sized and shapedto be used with the motorized deployment device. Thus, any elongated endeffector device compatible with and fitted with a Segura™/Dakota™ handle(or a similar device) may also be used with the motorized deploymentdevice.

In still another embodiment, the endoscope handle has an motor forcontrolling the articulation of the distal tip of the endoscopic shaft.The motor may be, e.g., a stepper motor allowing for precise positioningand holding of the shaft tip and/or precise control of the end effectorfeature of the elongated device. The motor may be internal to the handleor may be externally coupled to the handle, e.g., connected to a pullwire wheel by a flexible drive shaft extension or the like.

In each of the embodiments, the communication interfaces between thescope handle and the accessory device(s), whether internal or viaexternal communication interfaces, are arranged so that an operatingphysician may operate the articulation of the distal shaft tip andcontrol the accessory device in an ergonomic manner. For example, in oneembodiment, where the motorized deployment device is connected to thescope handle via an external communication interface, the deflectionknob for the distal shaft tip and the button control for the motorizeddeployment device are arranged so that both may be operatedsimultaneously or independently without overstressing the physician'shand.

In another embodiment, where the motorized deployment device ismonolithic with or otherwise compatible with the scope handle, a buttonpad may be used to operate both the shaft tip and the elongated device.The button pad may include, for example, four momentary buttons locatedon the bottom side of the scope handle and may be operated by thephysician's grip hand thumb. Depressing a button causes a movement tooccur to the scope shaft or the end effector, and releasing the buttoncauses the stepper motor to stop and hold the current position. Inanother embodiment, a non-momentary button may be used such as a typicalon/off switch. In still another embodiment, control is fully implementedremotely from the devices via, e.g., a console.

The present embodiments have a data bus in the scope handle where datamay be received via the various accessory devices and control for thedevices may be implemented. The handle may be coupled to an endoscopicconsole or the like via a cable, with data from the devices being sentthereto or control of the devices being implemented therefrom. In someembodiments, data from one of the accessory devices and/or the endoscopemay be used to control the operation of another one of the accessorydevices and/or the endoscope. For example, a reading from a pressuresensor may trigger an operation of an irrigation mechanism. In anotherexample the output from a laser-distance sensor may adjust/optimize thedistance from a laser fiber tip to a ureteral stone via the steppermotor to maximize laser efficiency during stone fragmentation. Inanother embodiment the data from an accessory device is displayed one.g. a monitor screen for the physician to evaluate and reactaccordingly.

FIGS. 1A-1B show a front view and a rear view of an endoscopic device100 compatible with powered and data accessories according to variousexemplary embodiments of the present disclosure. The endoscopic device100 may be specific to a particular endoscopic procedure, such as, e.g.,ureteroscopy, or may be a general-purpose device suitable for a widevariety of procedures. The device 100 includes a handle 102 connected toan endoscopic shaft 104 with a deflecting distal tip 106 at a distal end103. The distal tip 106 has a camera and may, for example, have full270° deflection capabilities in more than one direction for viewingpatient anatomy as would be understood by those skilled in the art.

The handle 102 of the endoscopic device 100 has a plurality of elementsconfigured to facilitate the endoscopic procedure. A cable 108 extendsfrom the handle 102 and is configured for attachment to an electronicdevice (not pictured) such as e.g. a computer system, a console, amicrocontroller, etc. for providing power, analyzing endoscopic data,controlling the endoscopic intervention, or performing other functions.The electronic device to which the cable 108 is connected may havefunctionality for recognizing and exchanging data with other endoscopicaccessories, to be described in detail below. The handle 102 has a griparea 118 for the operating physician to grasp while performing theendoscopic procedure. A deflection knob 116 at a proximal end 105 of thedevice may be actuated to control the deflection of the distal tip 106as would be understood by those skilled in the art. Even when anendoscope has a motorized deflection means, to be described in detailbelow, a short handle version of the deflection knob 116 is present, inthis embodiment, for manually straightening the distal tip 106 andremoving the shaft 104 from the patient anatomy in case of e.g. powerfailure.

The handle 102 further has at least one communication interface forattaching accessory devices. In the present embodiment, the handle 102has a first communication interface 112 and second communicationinterface 114 that are, in this embodiment, Universal Serial Bus type-C(USB-C) ports. However, more or less communication interface of varioustypes, including, for example, custom interfaces, may be used. In otherembodiments, the handle 102 has only one communication interface but mayreceive e.g. a USB hub with multiple ports for connecting multipleaccessories. The communication interfaces 112, 114 may provide power tothe accessory devices in addition to exchanging data therewith. Thus,the accessory devices need not have separate cables running to theconsole or a battery that adds additional weigh to the handle 102. Theaccessory device may be uniquely associated with the device 100 andrecognized by the console through “plug and play” functionality withoutany user setup required.

A T-connector 110 extends from a distal portion of the handle 102 andprovides two ports 124, 126 for accessing the working channel of theendoscopic shaft 104. In this embodiment, the first and second ports124, 126 are arranged perpendicularly to one another with the first port124 facing distally and the second port 126 facing proximally. Anaccessory device or an elongated end effector device may be passedthrough either one of the first and second ports 124, 126, however, thesecond port 126 may be preferred when the device is proximal to theT-connector 110. In another embodiment, a Y-connector is used with firstand second ports both facing proximally, such that two devices may bepassed into the working channel of the endoscopic shaft 104 from aposition proximal to the Y-connector.

Various accessory devices may be mated with either of the twocommunication interfaces 112, 114, however, certain of the accessorydevices are more compatible with either one of the two interfaces 112,114. The first communication interface 112 is located distally on thehandle 102. Certain of the accessory devices have correspondingcommunication interfaces, e.g., male USB-C ports, extending from thedevices that lend themselves to spatial compatibility with the firstcommunication interface 112.

For example, FIG. 2 shows a pressure sensor device 200 configured forcompatibility with the endoscopic device 100, particularly with thefirst communication interface 112 of the endoscopic device 100. Thepressure sensor device 200 has a communication interface 202 that may bemated with, e.g., inserted into, the first communication interface 112of the endoscopic device 100. The pressure sensor device 200 has a shaft204 extending from a proximal end 205 of the device 200 to a distal end203 of the device 200. The shaft 204 has a through-lumen, i.e., channel,extending through its length. The proximal end of the shaft 204 has afemale Luer hub 210 extending therefrom and the communication interface202 adjacent thereto. The communication interface 112 of the endoscopicdevice 100 is angled so that when the pressure sensor device 200 isattached to the endoscopic device 100, the Luer hub 210 is oriented in amanner similar to the second port 126 of the T-connector 110. Thus, thepressure sensor device 200 is more easily coupled with a male Luer portfor e.g. fluid communication during use.

The pressure sensor device 200 has a pressure sensor 206 at a distal endof the shaft 204 and a plurality of clips 208 adjacent thereto forsecuring the shaft 204 of the pressure sensor device 200 to theendoscopic shaft 104. Although the present embodiment uses the clips208, the shaft 204 may be secured to the endoscopic shaft 104 by othermeans such as, e.g., holders or the like.

As noted above, the pressure sensor device 200 may also be mated withthe second communication interface 114 of the endoscopic device 100.However, in the presently described embodiment, mating with the firstcommunication interface 112 is preferable in view of the ease with whichthe shaft 204 of the pressure sensor device 200 may be clipped to theshaft 104 of the endoscopic device 100 as well as the positioning of themedical luer hub 210.

In another example, FIG. 3 shows a flow sensor device 300 configured forcompatibility with the endoscopic device 100, particularly with thefirst communication interface 112 of the endoscopic device. Similar tothe pressure sensor device 200, the flow sensor device 300 has acommunication interface 302 that may be mated with the firstcommunication interface 112 of the endoscopic device 100. The flowsensor device 300 has a shaft 304 extending from a proximal end 305 ofthe device 300 to a distal end 303 of the device 300. The shaft 304 hasa through-lumen extending through its length. The proximal end of theshaft 304 has a female Luer hub 310 extending therefrom, thecommunication interface 302 adjacent thereto and a handle 312. Similarto the pressure sensor device 200, the flow sensor device 300 is easilycoupled with a male Luer port for fluid communication or any otherreason.

The flow sensor device 300 has a flow sensor 306 adjacent to the handle312 and a plurality of clips 308 adjacent to a distal end of the shaft304 for securing the shaft 304 of the flow sensor device 300 to theendoscopic shaft 104. Similar to the pressure sensor device 200, theflow sensor device 300 may use attachment means other than the clips 308such as, e.g. holders or the like. The pressure sensor device 200 mayalso be mated with the second communication interface 114 of theendoscopic device 100, however, mating with the first communicationinterface 112 is preferable in view of the spatial benefits discussedabove.

The second communication interface 114 is positioned proximally on thehandle 102 and is compatible with accessory devices configured forinsertion through a working channel of the endoscopic shaft 104 via, forexample, the second port 126. For example, an accessory device such asan additional camera, an additional light, an optical sensor, or otherdevice may be mated with the second communication interface 114 andinserted into the working channel. In this way, the cables/shafts of thedevices are out of the way of the operating physician and can be usedwithout significant bending of the accessory.

However, these devices may also have a flexible cable that is insertedinto the first communication interface 112 and flexed into the workingchannel without damaging the cable. Because the second communicationinterface 114 is proximal to the T-connector 110, with the second port126 of the T-connector 110 directed proximally, there may be instanceswhere a fluid being used during a ureteroscopic procedure leaks and/orsplashes proximally. Thus, the proximal second communication interface114 may have a fluid seal such as a Tuohy borst adapter, a UroLok™ or aGateway™. The console cable 108 of the endoscopic device 100 may beassociated with one of the communication interfaces 112, 114 such thatan interface on the handle 102 is not necessary. For example, the cable108 may be bifurcated and have an interface, e.g., USB port, extendingfrom the bifurcated part of the cable 108.

The handle 102 of the endoscopic device 100 in the present embodimenthas two mount holes 120, 122 positioned to couple to, for example, amotorized deployment device 400 compatible with an elongated endeffector device. The elongated end effector device may be any one of anumber of devices having a variety of purposes such as, e.g., capturingand removing objects such as kidney stones, to be explained in furtherdetail below.

FIG. 4A shows a transparent side view and FIG. 4B shows a transparentperspective view of the motorized deployment device 400. The motorizeddeployment device 400 may be coupled to the endoscopic device 100 at themount holes 120, 122 with corresponding mount pins 402, 404. Thedeployment device 400 has a communication interface 406 that may bemated with, e.g., inserted into, the second communication interface 114of the endoscopic device 100. The communication interface 406 may be,e.g., a male USB-C port. The communication interface 406 is connectedvia a flexible cable 408 to a control board 410 for a motor 412. Thecontrol board 410 includes an electrical port, in this case forconnecting a USB, driver circuitry and motor terminals for connectingthe motor 412. The motor 412 may be, e.g., a stepper motor.

The motor 412 may be actuated by a signal provided by e.g. the buttonpad 1200 shown in FIG. 12. In another embodiment, the signal isgenerated in response to an endoscopic sensor reading. If the flexiblecable 408 is sufficiently long the communication interface 406 may bemated with the first communication interface 112 of the endoscopicdevice 100, however, in the presently described embodiment, themotorized deployment device 400 is particularly suited for connectionvia the second communication interface 114. The connection to thedeployment device 400 via one of the communication interfaces 112, 114allows for actuation of the deployment device 400 via controls on thehandle 102.

The motorized deployment device 400 has a handle coupler 414 extendingfrom a distal end 403 of the device 400 to a proximal end 405 of thedevice 400. The handle coupler 414 is configured to receive a handle ofthe elongated end effector device, to be described below with respect toFIGS. 6-7. The elongated end effector device comprises a pull wire andan outer sheath to be fed through the working channel of the shaft 104via the T-connector 110 of the endoscopic device 100 or otherembodiments of the endoscopic device. The elongated end effector deviceincludes a handle at the proximal end and an end effector at the distalend of the pull wire, the end effector being actuatable by a slide onthe handle between an extended open and a retracted closed state for,for example, grasping objects or extending/retracting a laser fiber or atherapy needle during the endoscopic procedure.

In an alternate embodiment, the elongated end effector device and themotorized deployment device 400 are fashioned in a single monolithicunit. The end effector is actuatable via linear motion of a carrier 416coupled to the slide of the elongated end effector device handle, to bedescribed in detail below. For example, when the elongated device handleis inserted into the handle coupler 414, distal movement of the carrier416 may cause the slide of the elongated end effector device to closethe end effector, while proximal movement of the carrier 416 may causethe end effector to open. The motion of the carrier 416 is implementedvia the motor 412 via an actuation linkage internal to the deploymentdevice 400, to be described below.

The carrier 416 of the deployment device 400 is configured to slidewithin a channel 424 of the device 400. The channel 424 prevents anymovement other than the proximal/distal sliding. The carrier 416 has aslot 422 where a pin 420 is configured to slide, the pin 420 beingconnected to the motor 412 via an arm 418. When the motor 412 isactuated the arm 418 is caused to rotate about a predefined arc 426. Thelinkage of the pin 420 with the slot 422 translates the angular motionof the arm 418 into linear motion of the carrier 416. The slot 422allows the pin 420 to translate slightly in a direction orthogonal tothe proximal/distal direction while driving the carrier 416 in theproximal/distal direction. When the carrier 416 is brought to its mostdistal position the end effector is fully closed, and when the carrier416 is brought to its most proximal position the end effector is fullyopen, with varying degrees of openness/closedness between its mostdistal and most proximal positions.

In an alternate embodiment, as shown in FIGS. 5A-5B, a deployment device500 extends from a distal end 503 to a proximal end 505 and may drive acarrier 516 using a lead screw in lieu of the linkage described withrespect to the deployment device 500. Similar to the first deploymentdevice 400, the second deployment device 500 has mount pins 502, 504 forattaching the second deployment device 500 to the endoscopic device 100.Additionally, a communication interface 506, a flexible cable 508, adriver and control board 510, a handle coupler 514, the carrier 516 anda channel 528 are substantially similar to those described with respectto the deployment device 400. However, the deployment device 500 has twolocation options for a motor, both of which are coupled to lead screws,i.e. screws used as a linkage to translate rotational motion into linearmotion.

In a first embodiment, a motor 512 is disposed at a location adjacent toand oriented parallel to the channel 528 housing the carrier 516. Whenthe motor 512 is actuated, a lead screw 518 extending from the motor isrotated. The lead screw 518 is coupled to a threaded through-hole 520extending through a portion of the carrier 516. Thus, as the lead screw518 is rotated, the carrier 516 is driven in a proximal/distaldirection. In a second embodiment, a motor 522 is disposed at a locationproximal to the channel 528 housing the carrier 516. A lead screw 524extends from the motor 522 and is coupled to a threaded through-hole 526extending through a proximal portion of the carrier 516. The secondmotor 522 drives the carrier 516 in a substantially similar manner asthe first motor 512.

In an alternate embodiment, the devices 400, 500 may implement a rackand pinion mechanism to drive the linear motion of the carrier 416, 516.A pinion gear may be attached to the stepper motor shaft and the rackmay be an integral portion of the carrier.

FIG. 6 shows an exemplary Segura™ handle 600 that may be fitted to anyof the aforementioned elongated end effector devices. In anotherembodiment, a Dakota™ handle may be used, which is similar to theSegura™ handle but is modified to have a sure open trigger. Thus, thehandle 600 may be either of a Segura™ or a Dakota™ handle, depending onthe elongated end effector device to which it is fitted, or may be asimilar device for actuating an end effector device.

The Segura™ handle 600 has a body 602 over which a slide 604 may slide.A male luer 610 is attached to a distal end of the slide 604, while ashaft, i.e. pull wire of the elongated end effector device is held by ajaw vise 606 at a proximal end 605 of the body 602. A cap 608 forces thejaws 606 closed around the shaft of the end effector device as the cap608 is screwed onto the body 602. The body 602 has a through-lumen (notpictured) for the shaft of the elongated end effector device. Thus, itmay be seen that the slide 604 may move relative to the body 602 and theshaft of the elongated end effector device.

An outer sheath of the end effector device is connected vis a femaleluer to the male luer 610 and extends to cover the end effector at thedistal end of the end effector device. When the slide 604 is moveddistally it in turn moves the outer sheath distally over the endeffector to close the end effector, and when the slide 604 is movedproximally it in turn moves the outer sheath proximally to uncover thedistal end of the end effector, causing the self-opening, memory set endeffector to open. A stroke-limiter in the Segura™ handle 600 governs thetravel of the slide 604 relative to the end effector size, where T isthe travel length of the slide 604.

As discussed previously, the carriers 416, 516 of the deployment devices400, 500 are, in these embodiments, sized and shaped for compatibilitywith the slide 604 of the Segura™/Dakota™ handle 600. Thus, when thedeployment device 400 is actuated to move the carrier 416 in a proximalor distal direction, the slide 604 is correspondingly moved with respectto the body 602 and the end effector of the end effector device is movedtowards open or moved towards closed.

FIG. 7 shows examples of elongated end effector devices compatible withthe Segura™/Dakota™ handle 600, including a stone/particle retrievalbasket. FIGS. 7A-7F show a Zero Tip™ retrieval basket 702, a laser fiberdevice 704, a therapy needle 706, a snare 708, forceps 710 and a bandligator 712, respectively. Each of the elongated end effector devicesmay be fitted with a Segura™/Dakota™ handle and may be operated by thedeployment device 400 or 500.

The motors described with respect to deployment devices 400 and 500 maybe, e.g., a DC motor, a Servo motor, a stepper motor, or the like. Thepreferred embodiment for the motor is the stepper motor. A stepper motoris a brushless electromechanical device that converts the train ofelectric pulses applied at their excitation windings into preciselydefined step-by-step mechanical shaft rotation. The shaft of the motorrotates through a fixed angle for each discrete pulse, which may betranslated to linear motion in any of the aforementioned ways. Eachpulse provides one step of motion, i.e., the angle through which thestepper motor shaft turns for each pulse is referred to as the stepangle, generally expressed in degrees.

The position of motor shaft is controlled by controlling the number ofpulses. This feature makes the stepper motor to be well suited for anopen-loop control system wherein the precise position of the shaft ismaintained with an exact number of pulses without using a feedbacksensor. If the step angle is smaller, the greater will be the number ofsteps per revolution and the higher will be the accuracy of the positionobtained. The step angles can be as large as 90 degrees and as small as0.72 degrees, however, the commonly used step angles are 1.8 degrees,2.5 degrees, 7.5 degrees and 15 degrees.

The direction of the shaft rotation depends on the sequence of pulsesapplied to the stator. The speed of the shaft or the average motor speedis directly proportional to the frequency (the rate of input pulses) ofinput pulses being applied at excitation windings. Therefore, if thefrequency is low, the stepper motor rotates in steps and for highfrequency, it continuously rotates like a DC motor due to inertia.Stepper motors continue to generate holding torque even at standstill.This means that the motor can be held at a stopped position withoutusing a mechanical brake. The built-in pulse generation function(controller) allows the stepper motor to be driven via a directlyconnected personal computer, programmable controller or console. Thestepper motor may achieve precise positioning via digital control, suchcontrol to be explained in further detail below.

FIG. 8 shows a stepper motor control board 800. The control board 800comprises a USB port 804 for connecting a USB cable and motor terminals802 for connecting a stepper motor. The stepper motor control board 800may be used in either of the deployment devices 400, 500 as the controlboards 410 or 510 for motors 412, 512 or 522, when those motors arestepper motors. However, if a stepper motor is not used, thecorresponding control board is configured to drive whichever motor isused. For example, if the motor 412 is a Servo motor, the control board412 is a Servo motor control board. The motor control board may becustom built. The motor may be powered via the USB port 804, however, inanother embodiment, the motor may be powered by batteries.

The deployment device 400 has buttons 430 for controlling the carriermovement via the control board 410 and motor 412. The deployment device400 preferably has at least two buttons 430. For example, a first buttonmay be depressed to advance the carrier in the distal direction and stopwhen the button is released. A second button may be depressed to advancethe carrier in the proximal direction and stop when the button isreleased. A double tap of either button may bring the carrier to itsmost distal or most proximal position. Other button depressionconfigurations may, for example, increase or decrease a speed of thecarrier motion.

In the embodiment shown in FIG. 12, the most proximal button 1202 is forscope shaft up direction (US) and the most distal button 1201 is forscope shaft down direction (US). In other countries the proximal buttonis for down and the distal button is for up. The two side buttons 1203,1204 on the button pad may be programmed by a user to either move thecarrier distally or proximally when pressed since the microprocessor isexecuting the stepper motor's direction of movement via a program, whena conditional statement in the program is true. The up and down scopeshaft buttons may also be switched by modifying a conditional statementwithout switching the pull wires of the pull wire wheel.

The placement of the buttons 430 adjacent to the grip area 118 anddeflection knob 116 of the endoscopic device 100 (when the endoscopicdevice 100 and the deployment device 400 are attached) providesergonomic benefits to the user of the devices. For example, a typicaluser may have difficulty operating a deployment device and scopedeflection simultaneously, especially when the thumb is extended on thedeflection knob 116 at full deflection, and especially if the user has asmall hand. The spatial configuration of the devices 100, 400 allow forease of use due to the proximity of the buttons 430 and deflection knob116. The retrieval device 500 similarly has buttons 530 for controllingthe carrier movement in a similar manner as that described above.

In an alternate embodiment, voice commands may be implemented forcontrolling the end effector, such as, but not limited to, “open,”“close,” “stop,” “faster,” “slower,” “load,” etc.

Different elongated end effector devices may be implemented in thedeployment device 400, each one having a distinct data set forcontrolling the end effector. For example, each end effector device mayhave different stop limits or stroke lengths for the carrier. However,through the “plug-and-play” functionality of the endoscopic device 100,the data sets may be automatically loaded to the controller.

Alternately, a type of elongated end effector device may be selectedthrough a drop-down menu on the console. To assemble the Segura™ handleto the deployment device 400 the carrier is moved to the most proximalposition, e.g. by depressing the button 1203 of FIG. 12, and the slideof the Segura™ handle is also moved to the most proximal position. Thiswould match the contours of the slide and carrier such that the Segura™handle is aligned and can be snapped into the deployment device. Button1204, for example, is depressed to close or retract the end effectorbefore the end effector is inserted into the working channel of thescope. To remove the elongated end effector device the end effector isclosed by depressing e.g. button 1204. The shaft of the end effector iswithdrawn and the Segura™ handle can be unclipped from the deploymentdevice and put aside for later use. Another elongated device can bequickly exchanged for the previous elongated device to perform itsfunction

In an alternate embodiment, the endoscopic device 100 and deploymentdevices 400 or 500 may be implemented in a single monolithic unit. Insuch an embodiment, instead of using mount holes and mount pins toconnect the respective devices, the deployment device is built into thehandle of the endoscopic device and all associated wiring is within thedevice.

In still another embodiment, the deflection of the distal tip 106 of theendoscopic device 100 may be motorized/wired using the same controlboard, such as the control board 800, as the deployment device 400. Insuch an embodiment, a second driver and a second motor would beimplemented in the handle 102 for controlling the distal tip 106.

FIG. 9 shows a handle 900 of an endoscopic device with a motor 902 forcontrolling the deflection of a distal tip. The endoscopic device inthis embodiment has two pull wires (not shown) for deflecting the distaltip in either of two directions. A pull wire wheel 904 has a first pullwire attachment 906 and a second pull wire attachment 908. The motor 902is mounted in the handle 900 with its drive shaft mounted in the centerof the pull wire wheel 904. A deflection knob 910 may be keyed to therotation of the pull wire wheel 904 via a controller/driver and wiring(not shown). Thus, the deflection knob 910 may operate as a switch androtate independently from the pull wire wheel 904.

When pressure is applied on the deflection knob 910 in a first directionthe motor 902 will rotate the pull wire wheel 904 such that one of thetwo pull wires, e.g. the pull wire attached to the first pull wireattachment 906, pulls the distal tip of the endoscopic device in one ofthe two directions. Similarly, when pressure is applied on thedeflection knob 910 in the second direction the motor 902 will rotatethe pull wire wheel 904 such that the second of the two pull wires,e.g., the pull wire attached to the second pull wire attachment 908,pulls the distal tip of the endoscopic device in the second of the twodirections. Release of the deflection knob 910 may stop the motor 902,allowing the position of the deflected distal tip to be maintained. Themaximum angular travel of the motor 902 will be set to the limitationsof the distal tip deflection.

A gear train may be used in the handle 900 in lieu of the motor 902driving the pull wire wheel 904 directly. FIGS. 10A-C show a simple twogear train 1000 where a smaller gear 1002 drives a larger gear 1004 thatrotates the pull wire wheel 904. The larger gear 1004 and the pull wirewheel 904 may be fashioned as a single part where the gear teeth extendfrom the circumference/perimeter of the pull wire wheel 904, as shown inFIG. 10D. FIG. 11 shows a two-gear train 1100 with a smaller gear 1102and a larger gear 1104 comprising a pulley belt 1106. The mechanicaladvantage of the aforementioned embodiments is to use a lesspowerful/expensive motor. In the device 900, driving the pull wire wheel904 directly will require a higher torque specification for the motorthan would be needed using the gear train systems shown in FIGS. 10-11.

The aforementioned aspects of the present disclosure may be combined invarious ways. In a first example, both the scope tip and the deploymentdevice are motorized. FIG. 12 shows an ergonomic button pad 1200 forcontrolling the scope tip and the deployment device. The button pad 1200has a first button 1201, a second button 1202, a third button 1203 and afourth button 1204. The button pad 1200 is also adjacent to a shorteneddeflection knob 1205. The deflection knob 1205 is shortened to allow theplacement of the button pad 1200 adjacent to the deflection knob 1205.In other embodiments, the deflection knob 1205 may be eliminatedcompletely, with the deflection of the scope tip being controlled by thebutton pad 1200. In another embodiment, the shortened deflection knobmay be used as a safety/bailout feature in case of e.g. power failure,considering the deflected scope shaft has to be straightened before itcan be removed from the body without injuries.

The button pad 1200 is connected to a controller programmed for allaspects of the intervention. The button pad 1200 is located on thebottom side of the scope handle and may be operated, for example, by thethumb of the scope handle grip hand. For example, the first and secondbuttons 1201, 1202 (opposite one another) may be used to deflect thescope tip in either of the two directions. The third and fourth buttons1203, 1204 (opposite one another) may be used to control theopening/closing of the elongated end effector device. A fifth button maybe implemented, such that when the fifth button is “on,” the third andfourth buttons 1203, 1204 are used to turn on/off the fluid managementsystem to flush the imaged cavity.

In another embodiment, the buttons are implemented on a console, tablet(e.g., iPad) or the like and controlled remotely. Thus, the endoscopicdevice may be fashioned without control features implemented directlythereon, and may instead be controlled via Bluetooth, infrared remote,etc.

It will be appreciated by those skilled in the art that changes may bemade to the embodiments described above without departing from theinventive concept thereof. It should further be appreciated thatstructural features and methods associated with one of the embodimentscan be incorporated into other embodiments. It is understood, therefore,that this invention is not limited to the particular embodimentdisclosed, but rather modifications are also covered within the scope ofthe present invention as defined by the appended claims.

1-15. (canceled)
 16. An endoscopic deployment device, comprising: a bodymountable on an endoscopic device, the body having a movable carriercouplable to an elongated end effector device, the elongated endeffector device having an end effector shaft covered by an outer sheathand an end effector extending from a distal end of the end effectorshaft, the outer sheath being sized and shaped for insertion through aworking channel of an endoscopic shaft of the endoscopic device, thebody having a carrier channel sized for the carrier to slide therein,wherein the end effecter is actuatable between an extended open positionand a retracted closed position by sliding the carrier in the carrierchannel which in turn slides the outer sheath over the end effectorshaft to uncover or cover the end effector; a communication interfaceextending from the body and configured to be mated with a correspondingcommunication interface on the endoscopic device on which the body ismounted to receive power therefrom and exchange data therewith; and amotor having a drive shaft coupled to the carrier, rotation of the driveshaft sliding the carrier in the carrier channel and actuating the endeffector in response to a signal.
 17. The endoscopic deployment deviceof claim 16, wherein the signal is generated based on actuation of anactuator on the endoscopic device.
 18. The endoscopic deployment deviceof claim 17, wherein the actuator is a button pad controlling the motorvia the mated communication interfaces of the endoscopic deploymentdevice and the endoscopic device.
 19. The endoscopic deployment deviceof claim 16, wherein the signal is generated in response to anendoscopic sensor reading.
 20. The endoscopic deployment device of claim16, wherein the motor is a stepper motor.
 21. The endoscopic deploymentdevice of claim 20, wherein the drive shaft has an arm extendingorthogonally therefrom coupled to a slot in the carrier and the arm hasa pin at an end of the arm opposite the drive shaft, the pin beingcoupled to the slot so that, when the drive shaft rotates, the pinslides in the slot in a direction orthogonal to the carrier channel andthe carrier slides in the carrier channel.
 22. The endoscopic deploymentdevice of claim 20, wherein the drive shaft is a lead screw coupled to athreaded through-hole extending through a portion of the carrierparallel to the carrier channel so that, when the drive shaft rotates,the carrier slides in the carrier channel.
 23. The endoscopic deploymentdevice of claim 20, wherein a pinion gear is coupled to the drive shaftand to a rack that is an integral portion of the carrier so that, whenthe drive shaft rotates, the pinion gear drive the rack and the carrierslides in the carrier channel.
 24. The endoscopic deployment device ofclaim 16, wherein the end effector device is a retrieval device forcapturing objects at a distal end of the endoscopic shaft.
 25. Theendoscopic deployment device of claim 16, wherein the end effectordevice is a laser fiber or energy fiber for fragmenting or cauterizingobjects at a distal end of the endoscopic shaft.
 26. The endoscopicdeployment device of claim 16, wherein the end effector device has aSegura™ handle for coupling to the carrier of the endoscopic deploymentdevice, wherein the carrier and a slide of the Segura™ handle arepositioned fully proximally prior to attaching the Segura™ handle to theendoscopic deployment device.
 27. The endoscopic deployment device ofclaim 16, wherein the endoscopic device has a proximal communicationinterface and a distal communication interface and the communicationinterface of the endoscopic deployment device is compatible with theproximal communication interface of the endoscopic device.
 28. Anendoscopic device, comprising: an elongated flexible endoscopic shaftincluding a working channel and a deflectable distal tip, the flexibleendoscopic shaft being sized and shaped for insertion to a target sitewithin a living body, the distal tip including a camera; a handle fromwhich the endoscopic shaft extends distally, the handle including a pullwire wheel comprising pull wire attachments from which first and secondpull wires extend distally through the endoscopic shaft to the distaltip, rotation of the pull wire wheel deflecting the distal tip bytensioning a first one of the first and second pull wires and slacking asecond one of the first and second pull wires, the handle including anactuator, a proximal end of the handle including a communicationinterface for connecting an accessory device; and a motor including arotatable drive shaft coupled to and configured to rotate the pull wirewheel in response to a signal.
 29. The endoscopic device of claim 28,wherein the deflection knob operates as a switch so that deflecting thedeflection knob in a first direction rotates the pull wire wheel apredefined angular extent to apply tension to the first one of the firstand second pull wires and deflecting the deflection knob in a seconddirection rotates the pull wire wheel a predefined angular extent toapply tension to the second one of the first and second pull wires. 30.The endoscopic device of claim 28, wherein the signal is generated by abutton pad on an exterior of the handle.
 31. A method, comprising:attaching an endoscopic deployment device to an endoscopic device, theendoscopic deployment device comprising a body mountable on theendoscopic device, the body having a movable carrier couplable to anelongated end effector device, the elongated end effector device havingan end effector shaft covered by an outer sheath and an end effectorextending from a distal end of the end effector shaft, the outer sheathbeing sized and shaped for insertion through a working channel of anendoscopic shaft of the endoscopic device, the body having a carrierchannel sized for the carrier to slide therein, wherein the end effecteris actuatable between an extended open position and a retracted closedposition by sliding the carrier in the carrier channel which in turnslides the outer sheath over the end effector shaft to uncover or coverthe end effector, the endoscopic deployment device further comprising acommunication interface extending from the body and configured to bemated with a corresponding communication interface on the endoscopicdevice on which the body is mounted to receive power therefrom andexchange data therewith, the endoscopic deployment device furthercomprising a motor having a drive shaft coupled to the carrier; andactuating the motor in response to a signal, the actuation of the motorrotating the drive shaft and sliding the carrier in the carrier channelto actuate the end effector.
 32. The method of claim 31, wherein theactuator is a button pad on the endoscopic device, the button pad beingoperated with a thumb of a grip hand of a user.
 33. The method of claim32, wherein the button pad further actuates a deflection of a distal endof the endoscopic shaft.
 34. The method of claim 31, wherein the motoris a stepper motor.
 35. The method of claim 31, wherein the end effectordevice is a retrieval device for capturing objects at a distal end ofthe endoscopic shaft.